The car for outdoor driving is used the Positioning System (GPS) for position recognition. Now, technology that can improve the accuracy such as Differential GPS (DGPS), Time Kinematic (RTK) has already been developed. However, it has to be ensured a sufficient number of GPS satellite signals and good DOP(Dilution of Precision) to use these technologies. In areas where GPS cannot be received correctly, as in downtown, positional accuracy of the vehicle is significantly reduced because of the influence of GPS signal blocking and multipath. In urban areas, it is difficult realistically to ensure positional accuracy above a certain level using only the GPS at the current level of technology. Also, in places like the tunnel cannot receive the GPS signal, we will not be able to calculate the position of the vehicle. To solve these problems, there is a need for a combination of other sensors and GPS. Integration method of GPS with the INS, the vehicle mounted sensors, cameras and laser scanners have been studied. Estimation of the position and attitude using the Velodyne 3D laser scanner has been unveiled at the recently. The advantage of 3D laser scanner is to provide highly accurate three-dimensional distance information for nearby terrain features. Therefore, we can get far more information than the 2D laser scanner. The goal of this research is to develop the technology required for driving of the UGV(Unmanned Ground Vehicle). Therefore, the estimation of the position and attitude of the vehicle and the surrounding environment recognition is essential. After recognition of the surrounding objects using Velodyne, the position and attitude of the vehicle can be estimated by applying the Simultaneous Localization and Mapping (SLAM) method. At the same time, the position of each object is tracked. In this paper, we will estimate the position and attitude of the vehicle using 32 channels Velodyne. We show the results of the position and attitude estimation using a Velodyne SLAM.

Keywords: velodyne, GPS, position estimation, ground vehicle